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| <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/> |
| <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/> |
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| <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/> |
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| <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/> |
| <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/> |
| <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/> |
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| <mesh name="right_1" file="objects/O02@0055@00002/convex/1.obj"/> |
| <mesh name="right_2" file="objects/O02@0055@00002/convex/2.obj"/> |
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| <mesh name="left_1" file="objects/O02@0054@00001/convex/1.obj"/> |
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| </body> |
| </body> |
| <body name="R_forearm_ty_link"> |
| <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/> |
| <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/> |
| <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/> |
| <body name="R_forearm_tz_link"> |
| <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/> |
| <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/> |
| <body name="R_forearm_roll_link"> |
| <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/> |
| <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/> |
| <body name="R_forearm_pitch_link"> |
| <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/> |
| <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/> |
| <body name="R_forearm_yaw_link"> |
| <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/> |
| <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/> |
| <body name="left_base"> |
| <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/> |
| <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/> |
| <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/> |
| <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/> |
| <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/> |
| <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/> |
| <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/> |
| <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/> |
| <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514"> |
| <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/> |
| <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/> |
| <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/> |
| <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/> |
| <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/> |
| <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0"> |
| <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/> |
| <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/> |
| <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/> |
| <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/> |
| <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/> |
| <site name="left_thumb_tip" pos="0.065 0.028 0"/> |
| <site name="track_hand_left_thumb_tip" pos="0.065 0.028 0"/> |
| <site name="trace_hand_left_thumb_tip" pos="0.065 0.028 0"/> |
| </body> |
| </body> |
| <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917"> |
| <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/> |
| <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/> |
| <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/> |
| <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/> |
| <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/> |
| <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/> |
| <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/> |
| <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/> |
| <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/> |
| <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244"> |
| <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/> |
| <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/> |
| <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/> |
| <geom type="mesh" mesh="left_idx-F2_C"/> |
| <geom size="0.007" pos="0.03 -0.016 0"/> |
| <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/> |
| <site name="left_index_tip" pos="0.025 -0.022 0"/> |
| <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/> |
| <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/> |
| </body> |
| </body> |
| <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508"> |
| <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/> |
| <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/> |
| <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/> |
| <geom size="0.0085" pos="0.036 -0.00175 0"/> |
| <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/> |
| <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/> |
| <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/> |
| <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244"> |
| <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/> |
| <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/> |
| <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/> |
| <geom type="mesh" mesh="left_idx-F2_C"/> |
| <geom size="0.007" pos="0.03 -0.016 0"/> |
| <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/> |
| <site name="left_middle_tip" pos="0.025 -0.022 0"/> |
| <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/> |
| <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/> |
| </body> |
| </body> |
| <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649"> |
| <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/> |
| <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/> |
| <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/> |
| <geom size="0.0085" pos="0.036 -0.00175 0"/> |
| <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/> |
| <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/> |
| <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/> |
| <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244"> |
| <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/> |
| <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/> |
| <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/> |
| <geom type="mesh" mesh="left_idx-F2_C"/> |
| <geom size="0.007" pos="0.03 -0.016 0"/> |
| <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/> |
| <site name="left_ring_tip" pos="0.025 -0.022 0"/> |
| <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/> |
| <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/> |
| </body> |
| </body> |
| <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096"> |
| <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/> |
| <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/> |
| <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/> |
| <geom size="0.0085" pos="0.036 -0.00175 0"/> |
| <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/> |
| <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/> |
| <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/> |
| <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244"> |
| <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/> |
| <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/> |
| <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/> |
| <geom type="mesh" mesh="left_idx-F2_C"/> |
| <geom size="0.007" pos="0.03 -0.016 0"/> |
| <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/> |
| <site name="left_pinky_tip" pos="0.025 -0.022 0"/> |
| <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/> |
| <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="right_object"> |
| <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/> |
| <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/> |
| <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/> |
| <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/> |
| <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/> |
| <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/> |
| <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/> |
| <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/> |
| <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/> |
| <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/> |
| <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/> |
| <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" size="0.01" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" size="0.01" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" size="0.01" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" size="0.01" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" size="0.01" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_right_thumb_tip" mocap="true"> |
| <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_right_thumb_tip" mocap="true"> |
| <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_right_index_tip" mocap="true"> |
| <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_right_index_tip" mocap="true"> |
| <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_right_middle_tip" mocap="true"> |
| <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_right_middle_tip" mocap="true"> |
| <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_right_ring_tip" mocap="true"> |
| <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_right_ring_tip" mocap="true"> |
| <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_right_pinky_tip" mocap="true"> |
| <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_right_pinky_tip" mocap="true"> |
| <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="left_object"> |
| <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/> |
| <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/> |
| <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/> |
| <geom name="left_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_10"/> |
| <geom name="left_object_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_11"/> |
| <geom name="left_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_12"/> |
| <geom name="left_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_13"/> |
| <geom name="left_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_14"/> |
| <geom name="left_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_15"/> |
| <geom name="left_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_16"/> |
| <geom name="left_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_17"/> |
| <geom name="left_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_18"/> |
| <geom name="left_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_19"/> |
| <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/> |
| <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/> |
| <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/> |
| <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/> |
| <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/> |
| <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/> |
| <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/> |
| <geom name="left_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_9"/> |
| <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/> |
| <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/> |
| <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" size="0.01" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" size="0.01" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" size="0.01" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" size="0.01" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_left_thumb_tip" mocap="true"> |
| <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_left_thumb_tip" mocap="true"> |
| <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_left_index_tip" mocap="true"> |
| <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_left_index_tip" mocap="true"> |
| <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_left_middle_tip" mocap="true"> |
| <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_left_middle_tip" mocap="true"> |
| <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_left_ring_tip" mocap="true"> |
| <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_left_ring_tip" mocap="true"> |
| <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_left_pinky_tip" mocap="true"> |
| <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_left_pinky_tip" mocap="true"> |
| <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| </worldbody> |
|
|
| <contact> |
| <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="left_object_9" name="floor_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_1" name="collision_hand_right_palm_1_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_1" name="collision_hand_right_palm_2_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_10" name="collision_hand_right_palm_1_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_10" name="collision_hand_right_palm_2_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_11" name="collision_hand_right_palm_1_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_11" name="collision_hand_right_palm_2_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_12" name="collision_hand_right_palm_1_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_12" name="collision_hand_right_palm_2_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_13" name="collision_hand_right_palm_1_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_13" name="collision_hand_right_palm_2_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_14" name="collision_hand_right_palm_1_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_14" name="collision_hand_right_palm_2_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_15" name="collision_hand_right_palm_1_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_15" name="collision_hand_right_palm_2_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_16" name="collision_hand_right_palm_1_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_16" name="collision_hand_right_palm_2_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_17" name="collision_hand_right_palm_1_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_17" name="collision_hand_right_palm_2_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_18" name="collision_hand_right_palm_1_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_18" name="collision_hand_right_palm_2_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_19" name="collision_hand_right_palm_1_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_19" name="collision_hand_right_palm_2_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_2" name="collision_hand_right_palm_1_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_2" name="collision_hand_right_palm_2_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_3" name="collision_hand_right_palm_1_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_3" name="collision_hand_right_palm_2_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_4" name="collision_hand_right_palm_1_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_4" name="collision_hand_right_palm_2_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_5" name="collision_hand_right_palm_1_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_5" name="collision_hand_right_palm_2_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_6" name="collision_hand_right_palm_1_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_6" name="collision_hand_right_palm_2_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_8" name="collision_hand_right_palm_1_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_8" name="collision_hand_right_palm_2_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="left_object_9" name="collision_hand_right_palm_0_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_1" geom2="left_object_9" name="collision_hand_right_palm_1_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_2" geom2="left_object_9" name="collision_hand_right_palm_2_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_thumb_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_10" name="collision_hand_right_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_11" name="collision_hand_right_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_12" name="collision_hand_right_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_13" name="collision_hand_right_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_14" name="collision_hand_right_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_15" name="collision_hand_right_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_16" name="collision_hand_right_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_17" name="collision_hand_right_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_18" name="collision_hand_right_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_19" name="collision_hand_right_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="left_object_9" name="collision_hand_right_thumb_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_10" name="collision_hand_right_index_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_11" name="collision_hand_right_index_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_12" name="collision_hand_right_index_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_13" name="collision_hand_right_index_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_14" name="collision_hand_right_index_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_15" name="collision_hand_right_index_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_16" name="collision_hand_right_index_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_17" name="collision_hand_right_index_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_18" name="collision_hand_right_index_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_19" name="collision_hand_right_index_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="left_object_9" name="collision_hand_right_index_1_left_object_9" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_index_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_10" name="collision_hand_right_index_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_11" name="collision_hand_right_index_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_12" name="collision_hand_right_index_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_13" name="collision_hand_right_index_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_14" name="collision_hand_right_index_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_15" name="collision_hand_right_index_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_16" name="collision_hand_right_index_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_17" name="collision_hand_right_index_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_18" name="collision_hand_right_index_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_19" name="collision_hand_right_index_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="left_object_9" name="collision_hand_right_index_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_10" name="collision_hand_right_middle_1_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_11" name="collision_hand_right_middle_1_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_12" name="collision_hand_right_middle_1_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_13" name="collision_hand_right_middle_1_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_14" name="collision_hand_right_middle_1_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_15" name="collision_hand_right_middle_1_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_16" name="collision_hand_right_middle_1_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_17" name="collision_hand_right_middle_1_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_18" name="collision_hand_right_middle_1_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_19" name="collision_hand_right_middle_1_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="left_object_9" name="collision_hand_right_middle_1_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_middle_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_10" name="collision_hand_right_middle_0_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_11" name="collision_hand_right_middle_0_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_12" name="collision_hand_right_middle_0_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_13" name="collision_hand_right_middle_0_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_14" name="collision_hand_right_middle_0_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_15" name="collision_hand_right_middle_0_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_16" name="collision_hand_right_middle_0_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_17" name="collision_hand_right_middle_0_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_18" name="collision_hand_right_middle_0_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_19" name="collision_hand_right_middle_0_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="left_object_9" name="collision_hand_right_middle_0_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_10" name="collision_hand_right_ring_1_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_11" name="collision_hand_right_ring_1_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_12" name="collision_hand_right_ring_1_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_13" name="collision_hand_right_ring_1_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_14" name="collision_hand_right_ring_1_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_15" name="collision_hand_right_ring_1_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_16" name="collision_hand_right_ring_1_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_17" name="collision_hand_right_ring_1_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_18" name="collision_hand_right_ring_1_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_19" name="collision_hand_right_ring_1_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="left_object_9" name="collision_hand_right_ring_1_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_10" name="collision_hand_right_ring_0_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_11" name="collision_hand_right_ring_0_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_12" name="collision_hand_right_ring_0_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_13" name="collision_hand_right_ring_0_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_14" name="collision_hand_right_ring_0_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_15" name="collision_hand_right_ring_0_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_16" name="collision_hand_right_ring_0_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_17" name="collision_hand_right_ring_0_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_18" name="collision_hand_right_ring_0_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_19" name="collision_hand_right_ring_0_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="left_object_9" name="collision_hand_right_ring_0_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_10" name="collision_hand_right_pinky_1_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_11" name="collision_hand_right_pinky_1_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_12" name="collision_hand_right_pinky_1_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_13" name="collision_hand_right_pinky_1_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_14" name="collision_hand_right_pinky_1_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_15" name="collision_hand_right_pinky_1_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_16" name="collision_hand_right_pinky_1_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_17" name="collision_hand_right_pinky_1_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_18" name="collision_hand_right_pinky_1_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_19" name="collision_hand_right_pinky_1_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="left_object_9" name="collision_hand_right_pinky_1_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_10" name="collision_hand_right_pinky_0_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_11" name="collision_hand_right_pinky_0_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_12" name="collision_hand_right_pinky_0_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_13" name="collision_hand_right_pinky_0_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_14" name="collision_hand_right_pinky_0_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_15" name="collision_hand_right_pinky_0_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_16" name="collision_hand_right_pinky_0_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_17" name="collision_hand_right_pinky_0_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_18" name="collision_hand_right_pinky_0_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_19" name="collision_hand_right_pinky_0_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="left_object_9" name="collision_hand_right_pinky_0_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_1" name="collision_hand_left_palm_1_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_1" name="collision_hand_left_palm_2_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_10" name="collision_hand_left_palm_0_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_10" name="collision_hand_left_palm_1_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_10" name="collision_hand_left_palm_2_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_11" name="collision_hand_left_palm_0_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_11" name="collision_hand_left_palm_1_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_11" name="collision_hand_left_palm_2_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_12" name="collision_hand_left_palm_0_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_12" name="collision_hand_left_palm_1_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_12" name="collision_hand_left_palm_2_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_13" name="collision_hand_left_palm_0_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_13" name="collision_hand_left_palm_1_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_13" name="collision_hand_left_palm_2_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_14" name="collision_hand_left_palm_0_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_14" name="collision_hand_left_palm_1_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_14" name="collision_hand_left_palm_2_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_15" name="collision_hand_left_palm_0_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_15" name="collision_hand_left_palm_1_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_15" name="collision_hand_left_palm_2_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_16" name="collision_hand_left_palm_0_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_16" name="collision_hand_left_palm_1_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_16" name="collision_hand_left_palm_2_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_17" name="collision_hand_left_palm_0_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_17" name="collision_hand_left_palm_1_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_17" name="collision_hand_left_palm_2_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_18" name="collision_hand_left_palm_0_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_18" name="collision_hand_left_palm_1_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_18" name="collision_hand_left_palm_2_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_19" name="collision_hand_left_palm_0_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_19" name="collision_hand_left_palm_1_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_19" name="collision_hand_left_palm_2_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_2" name="collision_hand_left_palm_1_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_2" name="collision_hand_left_palm_2_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_3" name="collision_hand_left_palm_1_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_3" name="collision_hand_left_palm_2_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_4" name="collision_hand_left_palm_1_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_4" name="collision_hand_left_palm_2_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_5" name="collision_hand_left_palm_1_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_5" name="collision_hand_left_palm_2_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_6" name="collision_hand_left_palm_1_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_6" name="collision_hand_left_palm_2_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_8" name="collision_hand_left_palm_1_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_8" name="collision_hand_left_palm_2_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_0" geom2="left_object_9" name="collision_hand_left_palm_0_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_1" geom2="left_object_9" name="collision_hand_left_palm_1_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_palm_2" geom2="left_object_9" name="collision_hand_left_palm_2_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_1" name="collision_hand_left_thumb_3_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_10" name="collision_hand_left_thumb_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_10" name="collision_hand_left_thumb_3_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_11" name="collision_hand_left_thumb_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_11" name="collision_hand_left_thumb_3_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_12" name="collision_hand_left_thumb_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_12" name="collision_hand_left_thumb_3_left_object_12" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_13" name="collision_hand_left_thumb_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_13" name="collision_hand_left_thumb_3_left_object_13" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_14" name="collision_hand_left_thumb_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_14" name="collision_hand_left_thumb_3_left_object_14" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_15" name="collision_hand_left_thumb_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_15" name="collision_hand_left_thumb_3_left_object_15" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_16" name="collision_hand_left_thumb_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_16" name="collision_hand_left_thumb_3_left_object_16" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_17" name="collision_hand_left_thumb_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_17" name="collision_hand_left_thumb_3_left_object_17" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_18" name="collision_hand_left_thumb_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_18" name="collision_hand_left_thumb_3_left_object_18" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_19" name="collision_hand_left_thumb_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_19" name="collision_hand_left_thumb_3_left_object_19" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_2" name="collision_hand_left_thumb_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_3" name="collision_hand_left_thumb_3_left_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_4" name="collision_hand_left_thumb_3_left_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_5" name="collision_hand_left_thumb_3_left_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_8" name="collision_hand_left_thumb_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_2" geom2="left_object_9" name="collision_hand_left_thumb_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_3" geom2="left_object_9" name="collision_hand_left_thumb_3_left_object_9" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_10" name="collision_hand_left_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_10" name="collision_hand_left_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_11" name="collision_hand_left_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_11" name="collision_hand_left_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_12" name="collision_hand_left_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_12" name="collision_hand_left_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_13" name="collision_hand_left_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_13" name="collision_hand_left_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_14" name="collision_hand_left_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_14" name="collision_hand_left_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_15" name="collision_hand_left_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_15" name="collision_hand_left_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_16" name="collision_hand_left_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_16" name="collision_hand_left_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_17" name="collision_hand_left_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_17" name="collision_hand_left_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_18" name="collision_hand_left_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_18" name="collision_hand_left_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_19" name="collision_hand_left_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_19" name="collision_hand_left_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_1" geom2="left_object_9" name="collision_hand_left_thumb_1_left_object_9" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_thumb_0" geom2="left_object_9" name="collision_hand_left_thumb_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="right_object_0" name="collision_hand_left_index_5_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="right_object_0" name="collision_hand_left_index_6_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="right_object_1" name="collision_hand_left_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="right_object_1" name="collision_hand_left_index_4_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="right_object_2" name="collision_hand_left_index_6_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="right_object_3" name="collision_hand_left_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="right_object_3" name="collision_hand_left_index_4_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="right_object_3" name="collision_hand_left_index_5_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="right_object_3" name="collision_hand_left_index_6_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="right_object_4" name="collision_hand_left_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="left_object_0" name="collision_hand_left_index_5_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="left_object_0" name="collision_hand_left_index_6_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="left_object_1" name="collision_hand_left_index_3_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="left_object_1" name="collision_hand_left_index_4_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="left_object_1" name="collision_hand_left_index_5_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="left_object_1" name="collision_hand_left_index_6_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="left_object_10" name="collision_hand_left_index_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="left_object_10" name="collision_hand_left_index_3_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="left_object_10" name="collision_hand_left_index_4_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="left_object_10" name="collision_hand_left_index_5_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="left_object_10" name="collision_hand_left_index_6_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_1" geom2="left_object_10" name="collision_hand_left_index_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="left_object_11" name="collision_hand_left_index_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="left_object_11" name="collision_hand_left_index_3_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="left_object_11" name="collision_hand_left_index_4_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="left_object_11" name="collision_hand_left_index_5_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="left_object_11" name="collision_hand_left_index_6_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_1" geom2="left_object_11" name="collision_hand_left_index_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_2" geom2="left_object_12" name="collision_hand_left_index_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_3" geom2="left_object_12" name="collision_hand_left_index_3_left_object_12" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_4" geom2="left_object_12" name="collision_hand_left_index_4_left_object_12" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_5" geom2="left_object_12" name="collision_hand_left_index_5_left_object_12" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_index_6" geom2="left_object_12" name="collision_hand_left_index_6_left_object_12" condim="4" friction="1 1 0.1 0 0"/> |
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| <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_10" name="collision_hand_left_middle_1_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_11" name="collision_hand_left_middle_1_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_12" name="collision_hand_left_middle_1_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_13" name="collision_hand_left_middle_1_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_14" name="collision_hand_left_middle_1_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_15" name="collision_hand_left_middle_1_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_16" name="collision_hand_left_middle_1_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_17" name="collision_hand_left_middle_1_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_18" name="collision_hand_left_middle_1_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_19" name="collision_hand_left_middle_1_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_1" geom2="left_object_9" name="collision_hand_left_middle_1_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_10" name="collision_hand_left_middle_0_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_11" name="collision_hand_left_middle_0_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_12" name="collision_hand_left_middle_0_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_13" name="collision_hand_left_middle_0_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_14" name="collision_hand_left_middle_0_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_15" name="collision_hand_left_middle_0_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_16" name="collision_hand_left_middle_0_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_17" name="collision_hand_left_middle_0_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_18" name="collision_hand_left_middle_0_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_19" name="collision_hand_left_middle_0_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_middle_0" geom2="left_object_9" name="collision_hand_left_middle_0_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_10" name="collision_hand_left_ring_1_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_11" name="collision_hand_left_ring_1_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_12" name="collision_hand_left_ring_1_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_13" name="collision_hand_left_ring_1_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_14" name="collision_hand_left_ring_1_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_15" name="collision_hand_left_ring_1_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_16" name="collision_hand_left_ring_1_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_17" name="collision_hand_left_ring_1_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_18" name="collision_hand_left_ring_1_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_19" name="collision_hand_left_ring_1_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_1" geom2="left_object_9" name="collision_hand_left_ring_1_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_10" name="collision_hand_left_ring_0_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_11" name="collision_hand_left_ring_0_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_12" name="collision_hand_left_ring_0_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_13" name="collision_hand_left_ring_0_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_14" name="collision_hand_left_ring_0_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_15" name="collision_hand_left_ring_0_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_16" name="collision_hand_left_ring_0_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_17" name="collision_hand_left_ring_0_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_18" name="collision_hand_left_ring_0_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_19" name="collision_hand_left_ring_0_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_ring_0" geom2="left_object_9" name="collision_hand_left_ring_0_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_10" name="collision_hand_left_pinky_1_left_object_10" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_11" name="collision_hand_left_pinky_1_left_object_11" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_12" name="collision_hand_left_pinky_1_left_object_12" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_13" name="collision_hand_left_pinky_1_left_object_13" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_14" name="collision_hand_left_pinky_1_left_object_14" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_15" name="collision_hand_left_pinky_1_left_object_15" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_16" name="collision_hand_left_pinky_1_left_object_16" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_17" name="collision_hand_left_pinky_1_left_object_17" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_18" name="collision_hand_left_pinky_1_left_object_18" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_19" name="collision_hand_left_pinky_1_left_object_19" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_1" geom2="left_object_9" name="collision_hand_left_pinky_1_left_object_9" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/> |
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| <pair geom1="collision_hand_left_pinky_0" geom2="left_object_9" name="collision_hand_left_pinky_0_left_object_9" friction="1 1 0.1 0 0"/> |
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| <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_1" geom2="left_object_9" name="right_object_1_left_object_9" friction="0.01 0.01 0.0001 0 0"/> |
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| <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_2" geom2="left_object_10" name="right_object_2_left_object_10" friction="0.01 0.01 0.0001 0 0"/> |
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| <pair geom1="right_object_2" geom2="left_object_14" name="right_object_2_left_object_14" friction="0.01 0.01 0.0001 0 0"/> |
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| <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/> |
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| <pair geom1="right_object_3" geom2="left_object_15" name="right_object_3_left_object_15" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_3" geom2="left_object_16" name="right_object_3_left_object_16" friction="0.01 0.01 0.0001 0 0"/> |
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| <pair geom1="right_object_3" geom2="left_object_19" name="right_object_3_left_object_19" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/> |
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| <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_3" geom2="left_object_9" name="right_object_3_left_object_9" friction="0.01 0.01 0.0001 0 0"/> |
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| <pair geom1="right_object_4" geom2="left_object_11" name="right_object_4_left_object_11" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_4" geom2="left_object_12" name="right_object_4_left_object_12" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_4" geom2="left_object_13" name="right_object_4_left_object_13" friction="0.01 0.01 0.0001 0 0"/> |
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| <pair geom1="right_object_4" geom2="left_object_17" name="right_object_4_left_object_17" friction="0.01 0.01 0.0001 0 0"/> |
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| <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/> |
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| <pair geom1="right_object_4" geom2="left_object_9" name="right_object_4_left_object_9" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_10" name="right_object_5_left_object_10" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_11" name="right_object_5_left_object_11" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_12" name="right_object_5_left_object_12" friction="0.01 0.01 0.0001 0 0"/> |
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| <pair geom1="right_object_5" geom2="left_object_15" name="right_object_5_left_object_15" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_16" name="right_object_5_left_object_16" friction="0.01 0.01 0.0001 0 0"/> |
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| <pair geom1="right_object_5" geom2="left_object_19" name="right_object_5_left_object_19" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_5" geom2="left_object_9" name="right_object_5_left_object_9" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_10" name="right_object_6_left_object_10" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_11" name="right_object_6_left_object_11" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_12" name="right_object_6_left_object_12" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_13" name="right_object_6_left_object_13" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_14" name="right_object_6_left_object_14" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_15" name="right_object_6_left_object_15" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_16" name="right_object_6_left_object_16" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_17" name="right_object_6_left_object_17" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_18" name="right_object_6_left_object_18" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_19" name="right_object_6_left_object_19" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_6" geom2="left_object_9" name="right_object_6_left_object_9" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_10" name="right_object_7_left_object_10" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_11" name="right_object_7_left_object_11" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_12" name="right_object_7_left_object_12" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_13" name="right_object_7_left_object_13" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_14" name="right_object_7_left_object_14" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_15" name="right_object_7_left_object_15" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_16" name="right_object_7_left_object_16" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_17" name="right_object_7_left_object_17" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_18" name="right_object_7_left_object_18" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_19" name="right_object_7_left_object_19" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/> |
| <pair geom1="right_object_7" geom2="left_object_9" name="right_object_7_left_object_9" friction="0.01 0.01 0.0001 0 0"/> |
| </contact> |
|
|
| <actuator> |
| <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/> |
| <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/> |
| <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/> |
| <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/> |
| <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/> |
| <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/> |
| <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/> |
| <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/> |
| <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/> |
| <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/> |
| <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/> |
| <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/> |
| <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/> |
| <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/> |
| <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/> |
| <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/> |
| <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/> |
| <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/> |
| <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/> |
| <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/> |
| <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/> |
| <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/> |
| <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/> |
| <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/> |
| <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/> |
| <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/> |
| <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/> |
| <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/> |
| <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/> |
| <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/> |
| <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/> |
| <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/> |
| </actuator> |
| </mujoco> |
|
|
